Articulated objects. Decomposing 3D objects into parts has led to a flurry of research in the past few years, including work in learning robotic grasping policies [1]}, [2]}, 3D semantic segmentation [3]}, and shape generation [4]}. Since many objects in Objaverse were uploaded by artists, the objects often come separated into parts. Figure REF  shows an example, where a chair is separated by its backrest, wheels, and legs, among many smaller parts.
